About Fourier N1

The Fourier Nexus-01 General-purpose Humanoid Robot (Nexus-01 hereinafter referred to as N1) stands 1.3 meters tall and weighs 38 kg, combining flexibility and dynamic stability. With 23 degrees of freedom(DOFs) across its body, N1 enables complex locomotion control and multi-scenario adaptability. The measured maximum stable running speed can reach 3.5m/s, with excellent dynamic balance performance. N1 can walk and run stably, and adapt to climbing on a 15°~20° slope and 20cm high stairs. It can also perform challenging actions such as stair walking without visual assistance, single-leg standing, and crawling up with both hands on the ground.

Product Composition

N1 consists of major components including the head, torso, arms, waist, and legs. With 23 DOFs across its body, it enables complex locomotion sequences.

• Head: The head has no DOF but supports flexible expansion, allowing for the autonomous installation of vision sensors (such as stereo camera) to meet diverse perception needs.
• Torso: The torso integrates core components including the main host, power management module, and network switch, serving as the central hub for system computation control and resource distribution management.
• Arm: Each arm features 5 DOFs, including the shoulder joint, elbow joint, etc. This ensures a wide range of locomotion and high operational flexibility.
• Waist: The waist has 1 DOF to support overall horizontal torso rotation, enhancing its ability to adjust direction.
• Legs: Each leg has 6 DOFs, ensuring balance and mobility across complex terrains.

Joint Reference Diagram and Motion Limits

The Fourier N1 has a total of 23 joints throughout its body, including 5 joints for the left arm and right arm respectively, 1 for the waist, and 6 for each of the left and right legs. The position reference diagram and the limit table for each joint are as follows:

No.	Joint Name	Control Group Name	Position Upper Limit (rad)	Position Lower Limit (rad)	Velocity Upper Limit (rad/s)	Torque Upper Limit (Nm)
1	left_hip_pitch_joint	left_leg	2.617	-2.617	16.2	90
2	left_hip_roll_joint	left_leg	1.57	-0.261	14.738	54
3	left_hip_yaw_joint	left_leg	2.617	-2.617	14.738	54
4	left_knee_pitch_joint	left_leg	2.356	-0.0872	16.2	90
5	left_ankle_roll_joint	left_leg	0.436	-0.436	16.747	30
6	left_ankle_pitch_joint	left_leg	0.436	-0.436	16.747	30
7	right_hip_pitch_joint	right_leg	2.617	-2.617	16.2	90
8	right_hip_roll_joint	right_leg	0.261	-1.57	14.738	54
9	right_hip_yaw_joint	right_leg	2.617	-2.617	14.738	54
10	right_knee_pitch_joint	right_leg	2.356	-0.0872	16.2	90
11	right_ankle_roll_joint	right_leg	0.436	-0.436	16.747	30
12	right_ankle_pitch_joint	right_leg	0.436	-0.436	16.747	30
13	waist_yaw_joint	waist	2.617	-2.617	14.738	54
14	left_shoulder_pitch_joint	left_manipulator	2.966	-2.966	14.738	54
15	left_shoulder_roll_joint	left_manipulator	2.792	-0.174	16.747	30
16	left_shoulder_yaw_joint	left_manipulator	1.832	-1.832	16.747	30
17	left_elbow_pitch_joint	left_manipulator	1.658	-0.349	16.747	30
18	left_wrist_yaw_joint	left_manipulator	1.832	-1.832	16.747	30
19	right_shoulder_pitch_joint	right_manipulator	2.966	-2.966	14.738	54
20	right_shoulder_roll_joint	right_manipulator	0.174	-2.792	16.747	30
21	right_shoulder_yaw_joint	right_manipulator	1.832	-1.832	16.747	30
22	right_elbow_pitch_joint	right_manipulator	1.658	-0.349	16.747	30
23	right_wrist_yaw_joint	right_manipulator	1.832	-1.832	16.747	30

Coordinate System, Joint Rotation Axes, and Joint Zero Points

The joint rotation coordinate system of the Fourier N1 adopts a right-handed coordinate system. The axis color coding is as shown in the figure below: the X-axis is red, the Y-axis is green, and the Z-axis is blue. The figure also includes information about the joint rotation axes and zero-point positions. In the coordinate system, the robot's joint rotations can be divided into three basic directions: rotation around the X-axis is called the Roll direction, rotation around the Y-axis is called the Pitch direction, and rotation around the Z-axis is called the Yaw direction.

Electrical Interfaces

No.	Interface Name	Description
1	Battery Button	Used for battery power on/off and status display
2	System Power Button	Used for system power on/off and status display
3	Charging Interface	Used for charging the device

Core Parameters Table

Parameter Category	Parameter Name	Parameter Details
Mechanical Parameters	Dimensions	1245 mm × 441 mm × 202 mm
	Arm Span	1240 mm
	Weight	≈39 kg
	Material	Aluminum Alloy - engineering plastics
Electrical Parameters	Rated Voltage	39.6V
	Rated Power	≈460W
Performance Indicators	Walking Speed	2.7 km/h
	Running Speed	10.8 km/h
	Basic Computing Unit	8-core high-performance CPU
Joint Information	Total DOFs	23
	Peak Joint Torque	144 N·m
	Operating Voltage	24-60V
	Rated Voltage	46V
	Dual Encoders	16bit/14bit
	Communication Method	Ethernet
Battery & Adapter	Type	Lithium-ion Battery
	Capacity	475WH
	Total Weight	≤3.2kg
	Nominal Voltage	39.6V
	Charging Limit Voltage	46.2V
	Cycle Life	25℃, 10A discharge, ≥800 cycles, SOH 80%
	Battery Life	≈2h
	Charging Time	≈3.5h
	Adapter Input	100-240V-50/60Hz
	Adapter Output	46V 4A
CPU	Operating System	Ubuntu 22.04
	Processing Unit	Intel® Core™ i7-13700H
	Computing Power	8-core high-performance CPU
	Memory	16 GB
	Storage	512GB NVMe
	I/O	HDMI/Type-C/Type-A
	Wired Network	100M/1000M/2500M
	Wireless Network	Wi-Fi 6
Sensor Parameters	Camera	Stereo camera (Optional)
	IMU	6-axis, supports acceleration and angular velocity detection